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src/custom-ur-descriptions/lix_moveit_config/config/hande/joint_limits.yaml

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# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed

default_velocity_scaling_factor: 0.1
default_acceleration_scaling_factor: 0.1

joint_limits:
  elbow_joint:
    has_velocity_limits: true
    max_velocity: 3.1415926535897931
    has_acceleration_limits: true
    max_acceleration: 5.0
    has_deceleration_limits: true
    max_deceleration: -5.0
  robotiq_hande_left_finger_joint:
    has_velocity_limits: true
    max_velocity: 0.14999999999999999
    has_acceleration_limits: true
    max_acceleration: 5.0
    has_deceleration_limits: true
    max_deceleration: -5.0
  robotiq_hande_right_finger_joint:
    has_velocity_limits: true
    max_velocity: 0.14999999999999999
    has_acceleration_limits: true
    max_acceleration: 5.0
    has_deceleration_limits: true
    max_deceleration: -5.0
  shoulder_lift_joint:
    has_velocity_limits: true
    max_velocity: 3.1415926535897931
    has_acceleration_limits: true
    max_acceleration: 5.0
    has_deceleration_limits: true
    max_deceleration: -5.0
  shoulder_pan_joint:
    has_velocity_limits: true
    max_velocity: 3.1415926535897931
    has_acceleration_limits: true
    max_acceleration: 5.0
    has_deceleration_limits: true
    max_deceleration: -5.0
  wrist_1_joint:
    has_velocity_limits: true
    max_velocity: 3.1415926535897931
    has_acceleration_limits: true
    max_acceleration: 5.0
    has_deceleration_limits: true
    max_deceleration: -5.0
  wrist_2_joint:
    has_velocity_limits: true
    max_velocity: 3.1415926535897931
    has_acceleration_limits: true
    max_acceleration: 5.0
    has_deceleration_limits: true
    max_deceleration: -5.0
  wrist_3_joint:
    has_velocity_limits: true
    max_velocity: 3.1415926535897931
    has_acceleration_limits: true
    max_acceleration: 5.0
    has_deceleration_limits: true
    max_deceleration: -5.0